#include "constants.h"
#include "CPFLocalizer.h"

int main(int argc, char ** argv){
	ros::init(argc, argv, "cpf");
	ros::NodeHandle nh;
	srand(time(NULL));
	CPFLocalizer cpf(nh);

	boost::thread t = boost::thread::thread(boost::bind(&CPFLocalizer::publishMapOdomTransform, &cpf));

    ros::spin();

    t.interrupt();
    t.join();
	return 0;
}
